DocumentCode
3340648
Title
Development of a mobile robot controlled by three motors for hostile environment
Author
Gweon, D.G. ; Cha, Y.Y. ; Cho, H.S.
Author_Institution
Dept. of Production Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
fYear
1991
fDate
19-22 June 1991
Firstpage
921
Abstract
In this study a hybrid legged/wheeled mobile robot, KAMOBOT, is developed. The mobile robot has a six-legged cylindrical configuration, each leg of which is equipped with a wheel at the bottom. The robot can go up and down stairs, go over obstacles, move along curvilinear paths and rotate around its geometric center. Such maneuverability can be achieved by using only three electric motors. In this study several gate modes are analyzed and algorithms for gate control are presented.<>
Keywords
mobile robots; KAMOBOT; curvilinear paths; gate control; gate modes; hostile environment; hybrid legged/wheeled mobile robot; six-legged cylindrical configuration; Belts; Engine cylinders; Leg; Mobile robots; Robot control; Shafts; Spline; Springs; Timing; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240555
Filename
240555
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